| commit | a987f8b259e0e428677f4e8b7b7cc170db18c8af | [log] [tgz] |
|---|---|---|
| author | Austin Schuh <austin.linux@gmail.com> | Sun Feb 28 22:02:20 2016 -0800 |
| committer | Austin Schuh <austin.linux@gmail.com> | Mon Feb 29 01:06:02 2016 -0800 |
| tree | 42faa1c238420eb29db15d823ec1dc0372690052 | |
| parent | be04115f24bdb145471147fc00ea918f2c79c46d [diff] [blame] |
Fixed zeroed bit in superstructure status. Change-Id: I0b6e9ff37ac9418aac1d34bb22476314cc9f775b
diff --git a/y2016/control_loops/superstructure/superstructure.cc b/y2016/control_loops/superstructure/superstructure.cc index ccd2388..ba49675 100644 --- a/y2016/control_loops/superstructure/superstructure.cc +++ b/y2016/control_loops/superstructure/superstructure.cc
@@ -596,8 +596,7 @@ } // Save debug/internal state. - // TODO(austin): Save the voltage errors. - status->zeroed = IsRunning(); + status->zeroed = arm_.zeroed() && intake_.zeroed(); status->shoulder.angle = arm_.X_hat(0, 0); status->shoulder.angular_velocity = arm_.X_hat(1, 0);